CN110985288B - UDE-based wind turbine generator performance-guaranteeing control method - Google Patents

UDE-based wind turbine generator performance-guaranteeing control method Download PDF

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CN110985288B
CN110985288B CN201911224519.7A CN201911224519A CN110985288B CN 110985288 B CN110985288 B CN 110985288B CN 201911224519 A CN201911224519 A CN 201911224519A CN 110985288 B CN110985288 B CN 110985288B
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maximum power
power tracking
tracking error
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control signal
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CN110985288A (en
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杨秦敏
焦绪国
陈积明
叶毅
李思亮
申云
程捷
李思涵
李宜祥
田洪海
姚禹
邹小标
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Zhejiang University ZJU
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/70—Type of control algorithm
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

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Abstract

The invention discloses a wind turbine generator performance-guaranteeing control method based on a UDE principle. Solving a control target of the wind turbine generator for realizing maximum power tracking, calculating a maximum power tracking error, designing upper and lower bounds of the maximum power tracking error, converting the constrained maximum power tracking error into an unconstrained variable, solving the dynamic characteristic of the unconstrained variable, designing an ideal control signal expression, estimating an unknown function in an ideal control signal by using a UDE principle, and solving a final control signal expression. The method can reduce the overshoot and tracking error of the system, simultaneously ensure the transient and steady-state performance of the system, has simple design process, can reduce the impact of overshoot on the system caused by large turbulence, thereby prolonging the service life of the unit, reducing the failure rate, having less control parameters needing debugging, simple implementation process and good practicability, and can improve the unit capacity and increase the economic benefit of the wind power plant compared with the traditional optimal torque control algorithm.

Description

UDE-based wind turbine generator performance-guaranteeing control method
Technical Field
The invention relates to the technical field of wind generating set control, in particular to a wind generating set performance protection control method based on UDE.
Background
The control technology is a core technology of a wind power generation system, and because wind power generation in China starts late, although the increase rate of wind power installed capacity in China is the first worldwide in recent years, wind power companies in China still rely on development platforms and control systems of foreign wind power huge heads to carry out upper-layer wind power technology research and development at present, and research and development of intelligent wind power control systems with independent intellectual property rights have important strategic significance.
The maximum wind energy capture is one of main control targets of a wind turbine generator and is an important guarantee for maximizing the economic benefit of a wind power plant, in order to achieve the target, an optimal torque control algorithm is generally adopted in the industry at present, the principle of the algorithm is very simple, namely under the condition that the wind speed is assumed to be a fixed value, only the steady state of a system is considered, and the control gain is multiplied by the square of the rotating speed of a generator to be used as a set value of the electromagnetic torque. However, since the optimal torque control algorithm only considers the system steady state, the wind energy capture efficiency is reduced in case of turbulent wind, thereby affecting the unit capacity.
Aiming at the problems existing in the optimal torque control algorithm, scholars provide a direct power method, namely, the optimal power is calculated by assuming that effective wind speed information is known, and the maximum wind energy is captured and converted into the maximum power tracking problem. On the basis, a large number of methods are proposed, such as intelligent control methods based on neural network, such as adaptive control, fuzzy control, robust control, and the like, however, most existing methods only consider the steady-state performance of the system, and do not pay attention to the transient performance of the system, and a few methods guarantee the transient and steady-state performance at the same time, but the design process is complex, the number of parameters to be debugged is large, and the implementation cost is high in practical application.
Due to the simplicity of design and the effectiveness of implementation effects, a control method based on UDE (uncertain and decentralized estimating) has gained increasing attention in recent years. The invention designs a maximum wind energy capturing method of a wind turbine generator, which is simple and easy to implement and needs few debugging parameters, and can simultaneously ensure the transient and steady-state performance of a system, improve the productivity of the wind turbine generator and increase the economic benefit of a wind power plant.
Disclosure of Invention
In order to improve the wind energy capturing efficiency of a wind turbine generator and solve the problems that the existing maximum wind energy capturing method is low in wind capturing efficiency, cannot simultaneously guarantee the transient and steady-state performance of a system, is complex in design process and has more parameters needing debugging, the invention provides the maximum wind energy capturing method which is simple and feasible and is simple in parameter debugging control, the transient and steady-state performance of the system can be simultaneously guaranteed, and the generating capacity of the wind turbine generator is further improved.
The technical scheme adopted by the invention for solving the technical problems is as follows: a wind turbine generator performance-guaranteeing control method based on UDE is characterized by comprising the following steps:
(1) obtaining a control target of a wind turbine generator of a power grid for realizing maximum power tracking;
(2) calculating a maximum power tracking error e according to a control target of maximum power tracking, and setting an upper bound and a lower bound of e to ensure transient and steady-state performance of the maximum power tracking error, namely the upper bound and the lower bound of e need to meet the following conditions:
Figure BDA0002301780900000021
whereine(t) and
Figure BDA0002301780900000022
respectively, an upper bound and a lower bound of a preset maximum power tracking error.
(3) Constrained e is converted to unconstrained variable z using the following conversion function:
Figure BDA0002301780900000023
from the image of the transfer function, e is at the upper bound of the preset maximum power tracking error as long as the unconstrained variable z is boundede(t) and lower bound
Figure BDA0002301780900000024
And solving the dynamic characteristic of z;
Figure BDA0002301780900000025
wherein,
Figure BDA0002301780900000026
it is known that it is possible to use,
Figure BDA0002301780900000027
is a control signal that needs to be designed,
Figure BDA0002301780900000028
it is known that the parameters of the system and the aerodynamic torque are difficult to obtain accurately
Figure BDA0002301780900000029
Is an unknown function.
(4) According to the dynamic characteristic of z, an ideal control signal expression is designed as follows:
Figure BDA00023017809000000210
where k > 0 is a control parameter determined according to wind energy capture efficiency.
(5) According to the UDE principle, an unknown function F in an ideal control signal is estimated, and the estimation method specifically comprises the following steps:
Figure BDA00023017809000000211
wherein,
Figure BDA00023017809000000212
is an estimated value of F, representing a convolution, G(s) is a low-pass filter gf(t) is the expression of G(s) in the time domain.
(6) Obtaining a final control signal expression according to the estimated unknown function as follows:
Figure BDA00023017809000000213
wherein L is-1Representing the inverse laplace transform.
Further, in the step (1), the control targets of the maximum power tracking are:
Figure BDA0002301780900000031
wherein 0 < np< 1 is the power grid reserved power scale factor, rho is the air density, R is the wind wheel radius, CpmaxThe optimal power coefficient of the unit, and v is the effective wind speed.
Further, in the step (2), a maximum power tracking error e is calculated by the following formula;
e＝Pg-Pref
wherein, Pg＝TgωrIs the generator power, TgIs the generator equivalent electromagnetic torque, omegarIs the wind wheel rotational speed; transient and steady-state performance of the maximum power tracking error is ensured, and the upper and lower bounds of e need to meet the following conditions:
Figure BDA0002301780900000032
whereine(t) and
Figure BDA0002301780900000033
respectively, an upper bound and a lower bound of a preset maximum power tracking error.
The invention has the beneficial effects that: by setting the upper and lower bounds of the maximum power tracking error, the transient and steady-state characteristics of the system are ensured, and the overshoot and tracking error of the system are reduced; by introducing an error conversion function, the constrained maximum power tracking error is converted into an unconstrained controlled variable, and then the design of the controller is completed by using the UDE principle, so that the design of the controller is greatly simplified, and the complicated design process of the intelligent controller is avoided. The UDE-based wind turbine generator performance-preserving control method provided by the invention can reduce the impact of overshoot on a system caused by large turbulence, thereby prolonging the service life of the wind turbine generator, has few control parameters needing debugging, simple implementation process and good practicability, and can improve the generator capacity and increase the economic benefit of a wind power plant compared with the traditional optimal torque control algorithm.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is an error transfer function
Figure BDA0002301780900000034
Image of a person
FIG. 3 is a simulated wind velocity diagram of the present invention;
fig. 4 is a graph of power comparison of the inventive method and the conventional method.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
As shown in fig. 1, the method for controlling the performance protection of the wind turbine generator based on the UDE principle includes the following steps:
step 1, solving a control target of the wind turbine generator for realizing maximum power tracking. Mechanical power P of wind turbine for maximum power trackingaIt should satisfy:
Pa＝Pamax
wherein,
Figure BDA0002301780900000041
is the optimum value of mechanical power, ρ is the air density, R is the wind wheel radius, CpmaxThe optimal power coefficient of the unit, and v is the effective wind speed.
Further, in practical application, a part of energy is generally reserved in the wind turbine generator to participate in frequency adjustment of the power grid, and therefore, a control target for the wind turbine generator to achieve maximum power tracking can be written as follows:
Figure BDA0002301780900000042
wherein, 0 < npAnd < 1 is a power grid reserved power scaling factor.
And 2, calculating the maximum power tracking error, and setting the upper and lower bounds of the maximum power tracking error. According to the control target of maximum power tracking obtained in the step 1, calculating a maximum power tracking error e as follows:
e＝Pg-Pref
wherein, Pg＝TgωrIs the generator power, TgIs the generator equivalent electromagnetic torque, omegarIs the wind wheel speed.
Further, to ensure transient and steady-state performance of the maximum power tracking error, e needs to satisfy the following conditions:
Figure BDA0002301780900000043
whereine(t) and
Figure BDA0002301780900000044
respectively, an upper bound and a lower bound of a preset maximum power tracking error.
And 3, converting the constrained maximum power tracking error e into an unconstrained variable z, and solving the dynamic characteristic of the unconstrained variable z. The following transfer functions are defined:
Figure BDA0002301780900000045
from the image of the transfer function, e is at the upper bound of the preset maximum power tracking error as long as the unconstrained variable z is boundede(t) and lower bound
Figure BDA0002301780900000046
In the meantime.
Further, the dynamic characteristic of the unconstrained variable z is obtained:
Figure BDA0002301780900000047
wherein,
Figure BDA0002301780900000048
it is known that it is possible to use,
Figure BDA0002301780900000049
is a control signal that needs to be designed,
Figure BDA00023017809000000410
it is known that the parameters of the system and the aerodynamic torque are difficult to obtain accurately
Figure BDA00023017809000000411
Is unknown.
And 4, designing an ideal control signal expression according to the dynamic characteristic of the unconstrained variable z as follows:
Figure BDA00023017809000000412
wherein k > 0 is a user-defined control parameter. Since F is unknown, the ideal control signal expression cannot be used.
Step 5, according to the UDE principle, estimating an unknown function F in the ideal control signal by using a low-pass filter G(s) with proper bandwidth to obtain an estimated value of F
Figure BDA0002301780900000051
Figure BDA0002301780900000052
Wherein, denotes convolution, gf(t) is the expression of G(s) in the time domain.
Step 6, using the estimated value of gamma (t)
Figure BDA0002301780900000053
Replacing gamma (t) in an ideal control signal expression, carrying out Laplace transformation, combining the same-class terms in a Laplace domain, and carrying out Laplace inverse transformation to obtain a control signal expression:
Figure BDA0002301780900000054
the low-pass filter g(s) may be selected according to actual requirements, and is usually selected as a first-order or a second-order filter. According to the DUE principle, the unconstrained variable z is bounded by the control signal, so e will be at the upper bound of the preset maximum power tracking errore(t) and lower bound
Figure BDA0002301780900000055
In addition, the maximum power tracking effect (including transient and steady-state performance) is improved, the unit capacity is improved, and the economic benefit of the wind power plant is increased.
Examples
In the embodiment, GH Bladed wind power development software is used for verifying the effectiveness of the method provided by the invention. To illustrate the inventive novelty, a comparison is made with the optimal torque control method commonly used in the industry today
Figure BDA0002301780900000056
Wherein, TgOTCIs the electromagnetic torque value, k, given by the optimal torque control algorithmoptIs a control parameter, ωgIs the rotating speed of the generator, rho is 1.225Kg/m3Is the air density, R is 38.5m is the wind wheel radius, Cpmax0.482 is the maximum wind energy capture coefficient, λopt8.5 isOptimum tip speed ratio, ng104.494 is the gear ratio of the gearbox.
FIG. 1 shows a flow chart of the method of the present invention. Firstly, solving a control target of the wind turbine generator for realizing maximum power tracking, calculating a maximum power tracking error e, and setting an upper bound and a lower bound of the e to ensure transient and steady-state performance of the e; secondly, converting e with constraint into an unconstrained variable z, and solving the dynamic characteristic of z; thirdly, designing an ideal control signal expression according to the dynamic characteristic of z; and finally, estimating an unknown function in the ideal control signal by using the UDE principle, and obtaining a final control signal expression.
As shown in fig. 2, is an error transfer function
Figure BDA0002301780900000057
Wherein, in
Figure BDA0002301780900000058
e-10. Therefore, after the error conversion function, the constrained tracking error e becomes an unconstrained variable z (t), thereby simplifying the design of the controller, i.e. the tracking error e is within the preset upper and lower bounds as long as the variable z (t) is guaranteed to be bounded.
Fig. 3 is a 6m/s turbulent wind used in the simulation, which better simulates the actual wind conditions and thus better tests the proposed method.
As shown in fig. 4, which is a power comparison graph of the method of the present invention and the conventional method, it can be seen that with the help of the error conversion technique and the UDE principle, the capacity of the unit can better track the optimal output power curve determined by the wind speed. Through calculation, the unit capacity of the method is improved by 3.20% compared with that of the traditional optimal torque method, and the method provided by the invention can be used for greatly improving the unit capacity and further improving the economic benefit of the wind power plant.
The above-described embodiments are intended to illustrate rather than to limit the invention, and any modifications and variations of the present invention are within the spirit of the invention and the scope of the appended claims.

Claims (3)

1. A wind turbine generator performance-guaranteeing control method based on UDE is characterized by comprising the following steps:
(1) acquiring a control target for realizing maximum power tracking of a wind turbine generator of a power grid;
(2) calculating a maximum power tracking error e according to a control target of maximum power tracking, and setting an upper bound and a lower bound of e to ensure transient and steady-state performance of the maximum power tracking error, namely the upper bound and the lower bound of e need to meet the following conditions:
Figure FDA0002805252370000011
whereine(t) and
Figure FDA0002805252370000012
respectively an upper bound and a lower bound of a preset maximum power tracking error;
(3) constrained e is converted to unconstrained variable z using the following conversion function:
Figure FDA0002805252370000013
from the image of the transfer function, e is at the upper bound of the preset maximum power tracking error as long as the unconstrained variable z is boundede(t) and lower bound
Figure FDA0002805252370000014
And solving the dynamic characteristic of z;
Figure FDA0002805252370000015
wherein, Pg＝TgωrIs the generator power, TgIs the generator equivalent electromagnetic torque, omegarIs windWheel speed, PrefA control target for maximum power tracking;
Figure FDA0002805252370000016
it is known that it is possible to use,
Figure FDA0002805252370000017
is a control signal that needs to be designed,
Figure FDA0002805252370000018
it is known that the parameters of the system and the aerodynamic torque are difficult to obtain accurately
Figure FDA0002805252370000019
Is an unknown function which will be compensated in the subsequent control signal expression;
(4) according to the dynamic characteristic of z, an ideal control signal expression is designed as follows:
Figure FDA00028052523700000110
wherein k > 0 is a control parameter determined according to wind energy capture efficiency;
(5) according to the UDE principle, an unknown function F in an ideal control signal is estimated, and the estimation method specifically comprises the following steps:
Figure FDA00028052523700000111
wherein,
Figure FDA00028052523700000112
is an estimated value of F, represents a convolution, G(s) is a low pass filter, gf(t) is the expression of G(s) in the time domain;
(6) obtaining a final control signal expression according to the estimated unknown function as follows:
Figure FDA0002805252370000021
wherein L is-1Denotes the inverse laplacian transform, and s is the argument of the laplacian domain.
2. The UDE-based wind turbine generator performance-maintaining control method according to claim 1, wherein in the step (1), the control target of maximum power tracking is:
Figure FDA0002805252370000022
wherein 0 < np< 1 is the power grid reserved power scale factor, rho is the air density, R is the wind wheel radius, CpmaxThe optimal power coefficient of the unit, and v is the effective wind speed.
3. The UDE-based wind turbine generator performance-maintaining control method according to claim 2, wherein in the step (2), the maximum power tracking error e is calculated by the following formula;
e＝Pg-Pref
wherein, Pg＝TgωrIs the generator power, TgIs the generator equivalent electromagnetic torque, omegarIs the wind wheel rotational speed; transient and steady-state performance of the maximum power tracking error is ensured, and the upper and lower bounds of e need to meet the following conditions:
Figure FDA0002805252370000023
whereine(t) and
Figure FDA0002805252370000024
respectively, an upper bound and a lower bound of a preset maximum power tracking error.
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